In a bowl, mix Cool-Whip, condensed milk, pudding, and about 1/4 gallon milk. Add chopped bananas and crushed Nilla Wafers.
Pour mixture into ice cream machine. Add milk to the fill line in the ice cream maker.
Stir mixture and begin freezing process as directed by manufacturer’s procedure.
Note: Can substitute different flavors of pudding mix, cookies, and/or fruit for different flavors. Vanilla pudding and crushed Oreos (do not remove cookie filling before crushing) with no fruit makes a great Cookies N Cream-like ice cream.